Mitsubishi Electric MELSERVO-JE MR-JE-C, Инструкция по эксплуатации

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6. MODBUS REGISTERS
6 - 16
Address Name and function
Data
type
Read/
write
Initial value Range Unit
Saved
to EEP-
ROM
Para-
meter
No. of
Points/
No. of
Registers
Continuous
read/
continuous
write
60E3 Supported homing method (Supported homing
method)
The number of supported homing methods is
returned.
1
bytes
Reading 39 00h to FFh 1 +
number
of read
points
Impossible
Number specification of supported homing
methods (1st to 39th) (1st supported homing
method)
Set the number of the supported home
position return type.
1
bytes
Reading 37 80h to 7Fh
60F2 Profile position mode setting (Positioning
option code)
Set the profile position mode.
Bit 1 to Bit 3 always notify "0". Setting a value
other than "0" will cause an error.
[Bit 1/Bit 0: relative option]
How to handle the relative position command
during pp is specified.
00: The positioning is performed with the
relative position from the internal absolute
target position.
[Bit 3/Bit 2: change immediately option]
The operation of when change set immediately
(control word Bit 5) is 1 during pp is specified.
00: Normal pp mode operation (New Target
position, profile velocity, acceleration, and
others are reflected immediately.)
[Bit 7/Bit 6: rotary axis direction option]
Specify the operation of the rotation axis
during pp and pt.
00: The servo motor rotates to the target
position in a direction specified with a sign
of the position data.
01: The servo motor rotates in the address
decreasing direction regardless of the sign
of the position data.
10: The servo motor rotates in the address
increasing direction regardless of the sign
of the position data.
11: The servo motor rotates from the current
position to the target position in the shorter
direction. If the distances from the current
position to the target position are the same
for CCW and CW, the servo motor rotates
in the CCW direction.
2
bytes
Read/
write
0000h 0000h to
00C0h
1 Impossible
60F4 Droop pulses [command unit] (Following error
actual value)
The droop pulses are returned.
4
bytes
Read 80000000h
to
7FFFFFFFh
pos
units
2
Impossible
60FA Speed command (Control effort)
The speed command is returned.
4
bytes
Read 0 80000000h
to
7FFFFFFFh
0.01
r/min
2 Impossible
60FF Command speed (Target velocity)
Set the speed command used in the profile
velocity mode (pv).
4
bytes
Read/
write
0 80000000h
to
7FFFFFFFh
0.01
r/min
2 Impossible
6502 Supported control mode (Supported drive
modes)
The supported control mode is returned.
Bit 0: Profile position mode (pp)
Bit 2: Profile velocity mode (pv)
Bit 3: Profile torque mode (tq)
Bit 5: Homing mode (hm)
4
bytes
Reading 0000002Dh 0000002Dh
to
0000002Dh
2
Impossible